Capabilities

The Duckiematrix was built to serve as the base rendering engine for 3D applications in Duckietown. It is capabile of:

• Simulating sensors, such as cameras, wheel encoders, time-of-flight lidars, IMUs, etc.

• Simulating arbitrarily large fleets of robots, by distributing the rendering tasks across multiple GPUs/computers over the network, thanks to Duckietown’s proprietary high-performance distributed rendering orchestrator

• Working without the need for network configuration, due to its naturally distributed architecture and central configurator node

• Over-the-network rendering, making it easy to develop video games, education-on-demand portals, virtual gathering platforms, live broadcasting of public or private events, such as competitions and research experiments, within a fully navigable 3D environment

• Representing environments based on the multi-layer world definition format, providing human-readable map representations that are easily extendable

• Accepting custom behaviors, using Python scripts embedded alongside the map definition, thanks to the Scriptable Map feature

• Local executability, removing the need for a persistent internet connection